Robust moving target trajectory tracking of a quadrotor with artificial vector fields

Abstract

Real-time trajectory tracking of an aerial maneuvering target using a quadrotor is a critical challenge, particularly when only discrete target waypoints with unstable sampling frequencies are available. To address this issue, we propose a robust control strategy based on artificial vector fields. A discrete waypoint fitting method using thin plate spline (TPS) interpolation is introduced to ensure a unique trajectory representation. A guidance control strategy with a filter-based dynamic estimator compensates for system uncertainties, enabling the quadrotor to track the target trajectory within an ultimate bound while maintaining a specified distance. Notably, the proposed approach aligns with the ”Arco mode of operation,” allowing implementation without modifying the underlying flight control system. Stability analysis guarantees the boundedness of the closed-loop system error. Furthermore, flight experimental results demonstrate the robustness of the proposed controller. Simulation and real-world flight experiments validate the effectiveness and the robustness of the proposed method.